A parallel heterogeneous policy deep reinforcement learning algorithm for bipedal walking motion design

摘要

Considering the dynamics and non-linear characteristics of biped robots, gait optimization is an extremely challenging task. To tackle this issue, a parallel heterogeneous policy Deep Reinforcement Learning (DRL) algorithm for gait optimization is proposed. Firstly, the Deep Deterministic Policy Gradient (DDPG) algorithm is used as the main architecture to run multiple biped robots in parallel to interact with the environment. And the network is shared to improve the training efficiency. Furthermore, heterogeneous experience replay is employed instead of the traditional experience replay mechanism to optimize the utilization of experience. Secondly, according to the walking characteristics of biped robots, a biped robot periodic gait is designed with reference to sinusoidal curves. The periodic gait takes into account the effects of foot lift height, walking period, foot lift speed and ground contact force of the biped robot. Finally, different environments and different biped robot models pose challenges for different optimization algorithms. Thus, a unified gait optimization framework for biped robots based on the RoboCup3D platform is established. Comparative experiments were conducted using the unified gait optimization framework, and the experimental results show that the method outlined in this paper can make the biped robot walk faster and more stably.